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<div class="title">fcl_distance_requests.h</div>  </div>
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<a href="fcl__distance__requests_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//*  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object_8h.html">collision/solvers/fcl/fcl_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/distance.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a19295445796ae479a9b7dea6d610e506">penetrationDepth</a>(fcl::AABBd boxA, fcl::AABBd boxB);</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a80707409712b021aa3476aad0c7a7e57">defaultDistanceFunction</a>(<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *o1,</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;                             <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *o2,</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;                             <span class="keywordtype">void</span> *cdata_, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;dist);</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aadb392ee1e6b41e6ec22bda390dea70d">toleranceDistanceFunction</a>(<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *o1,</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;                               <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *o2,</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;                               <span class="keywordtype">void</span> *cdata_, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;dist);</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a027eb8dbb27f6180348681d8212188e2">toleranceBBDistanceFunction</a>(<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *o1,</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;                                 <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *o2,</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;                                 <span class="keywordtype">void</span> *cdata_, <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &amp;dist);</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">get_max_distance</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html">   22</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html">DistanceDataBase</a> {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a2446b9429dee4c21c911c2b0a35d452c">DistanceDataBase</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">   25</a></span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">minDist</a>;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">   26</a></span>&#160;  fcl::DistanceRequest&lt;FCL_PRECISION&gt; <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">request</a>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#ad24445cf61c98ac20112c9c01e124f0f">   28</a></span>&#160;  fcl::DistanceResult&lt;FCL_PRECISION&gt; <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#ad24445cf61c98ac20112c9c01e124f0f">result</a>;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a64714ddf5e44a43f720af158f827b9b4">   30</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a64714ddf5e44a43f720af158f827b9b4">done</a>;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;};</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html">   33</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html">DistanceData</a> : <span class="keyword">public</span> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html">DistanceDataBase</a> {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#af85c2625da932ffaa0dd32580b0c519f">DistanceData</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#a5914aa8d30e74f4724e58920600460e5">   35</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#a5914aa8d30e74f4724e58920600460e5">result_code</a>;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;};</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html">   38</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html">ToleranceDistanceData</a> : <span class="keyword">public</span> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html">DistanceData</a> {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html#a256a2b80313a93609ab1b43c3155ee57">ToleranceDistanceData</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html#a486d2e89fa7361e447cc7ff52aabf38a">   40</a></span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html#a486d2e89fa7361e447cc7ff52aabf38a">tolerance</a>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;};</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_html_a5914aa8d30e74f4724e58920600460e5"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#a5914aa8d30e74f4724e58920600460e5">collision::solvers::solverFCL::DistanceData::result_code</a></div><div class="ttdeci">int result_code</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00035">fcl_distance_requests.h:35</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_html_af85c2625da932ffaa0dd32580b0c519f"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html#af85c2625da932ffaa0dd32580b0c519f">collision::solvers::solverFCL::DistanceData::DistanceData</a></div><div class="ttdeci">DistanceData(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00118">fcl_distance_requests.cc:118</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base_html_ad24445cf61c98ac20112c9c01e124f0f"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#ad24445cf61c98ac20112c9c01e124f0f">collision::solvers::solverFCL::DistanceDataBase::result</a></div><div class="ttdeci">fcl::DistanceResult&lt; FCL_PRECISION &gt; result</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00028">fcl_distance_requests.h:28</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html">collision::solvers::solverFCL::ToleranceDistanceData</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00038">fcl_distance_requests.h:38</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a19295445796ae479a9b7dea6d610e506"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a19295445796ae479a9b7dea6d610e506">collision::solvers::solverFCL::penetrationDepth</a></div><div class="ttdeci">double penetrationDepth(fcl::AABBd boxA, fcl::AABBd boxB)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00033">fcl_distance_requests.cc:33</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data_html_a256a2b80313a93609ab1b43c3155ee57"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html#a256a2b80313a93609ab1b43c3155ee57">collision::solvers::solverFCL::ToleranceDistanceData::ToleranceDistanceData</a></div><div class="ttdeci">ToleranceDistanceData(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00119">fcl_distance_requests.cc:119</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base_html_a7d760d4247c26cadb20c20ab40e0b7a6"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a7d760d4247c26cadb20c20ab40e0b7a6">collision::solvers::solverFCL::DistanceDataBase::request</a></div><div class="ttdeci">fcl::DistanceRequest&lt; FCL_PRECISION &gt; request</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00026">fcl_distance_requests.h:26</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aadb392ee1e6b41e6ec22bda390dea70d"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aadb392ee1e6b41e6ec22bda390dea70d">collision::solvers::solverFCL::toleranceDistanceFunction</a></div><div class="ttdeci">bool toleranceDistanceFunction(fcl::CollisionObject&lt; FCL_PRECISION &gt; *o1, fcl::CollisionObject&lt; FCL_PRECISION &gt; *o2, void *cdata_, FCL_PRECISION &amp;dist)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00084">fcl_distance_requests.cc:84</a></div></div>
<div class="ttc" id="fcl__collision__object_8h_html"><div class="ttname"><a href="fcl__collision__object_8h.html">fcl_collision_object.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a9319276ac9bc37aeb94051be45d7520e"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a9319276ac9bc37aeb94051be45d7520e">collision::solvers::solverFCL::get_max_distance</a></div><div class="ttdeci">FCL_PRECISION get_max_distance(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00111">fcl_distance_requests.cc:111</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data.html">collision::solvers::solverFCL::DistanceData</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00033">fcl_distance_requests.h:33</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html">collision::solvers::solverFCL::DistanceDataBase</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00022">fcl_distance_requests.h:22</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base_html_a64714ddf5e44a43f720af158f827b9b4"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a64714ddf5e44a43f720af158f827b9b4">collision::solvers::solverFCL::DistanceDataBase::done</a></div><div class="ttdeci">bool done</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00030">fcl_distance_requests.h:30</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base_html_a2446b9429dee4c21c911c2b0a35d452c"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a2446b9429dee4c21c911c2b0a35d452c">collision::solvers::solverFCL::DistanceDataBase::DistanceDataBase</a></div><div class="ttdeci">DistanceDataBase(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00114">fcl_distance_requests.cc:114</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a027eb8dbb27f6180348681d8212188e2"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a027eb8dbb27f6180348681d8212188e2">collision::solvers::solverFCL::toleranceBBDistanceFunction</a></div><div class="ttdeci">bool toleranceBBDistanceFunction(fcl::CollisionObject&lt; FCL_PRECISION &gt; *o1, fcl::CollisionObject&lt; FCL_PRECISION &gt; *o2, void *cdata_, FCL_PRECISION &amp;dist)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00056">fcl_distance_requests.cc:56</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base_html_a67eab52faea52944bb80fbe838f93b71"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_distance_data_base.html#a67eab52faea52944bb80fbe838f93b71">collision::solvers::solverFCL::DistanceDataBase::minDist</a></div><div class="ttdeci">FCL_PRECISION minDist</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00025">fcl_distance_requests.h:25</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data_html_a486d2e89fa7361e447cc7ff52aabf38a"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_tolerance_distance_data.html#a486d2e89fa7361e447cc7ff52aabf38a">collision::solvers::solverFCL::ToleranceDistanceData::tolerance</a></div><div class="ttdeci">FCL_PRECISION tolerance</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8h_source.html#l00040">fcl_distance_requests.h:40</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_ae5b7c160709b3db6237138bf7e719d9a"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">collision::solvers::solverFCL::FCL_PRECISION</a></div><div class="ttdeci">double FCL_PRECISION</div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00014">fcl_decl.h:14</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a80707409712b021aa3476aad0c7a7e57"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a80707409712b021aa3476aad0c7a7e57">collision::solvers::solverFCL::defaultDistanceFunction</a></div><div class="ttdeci">bool defaultDistanceFunction(fcl::CollisionObject&lt; FCL_PRECISION &gt; *o1, fcl::CollisionObject&lt; FCL_PRECISION &gt; *o2, void *cdata_, FCL_PRECISION &amp;dist)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__distance__requests_8cc_source.html#l00008">fcl_distance_requests.cc:8</a></div></div>
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